1 / 66

Introduction to asynDriver

Introduction to asynDriver. What is asynDriver?. “asynDriver is a general purpose facility for interfacing device specific code to low level drivers.” What does that mean? It is not a driver – it is a driver framework: Interface definitions and a collection of utilities.

brigit
Télécharger la présentation

Introduction to asynDriver

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Introduction to asynDriver Dirk Zimoch, 2007

  2. What is asynDriver? • “asynDriver is a general purpose facility for interfacing device specific code to low level drivers.” • What does that mean? • It is not a driver – it is a driver framework:Interface definitions and a collection of utilities. • What does it define? • Interfaces to different classes (not brands) of hardware. • What does it provide? • Functionalities common to all (or many) drivers. Page 2 Dirk Zimoch, 2007

  3. The problem • Separate (incompatible) sets of drivers and device supports. • Much effort duplicated but different sets of features. Page 3 Dirk Zimoch, 2007

  4. The plan • Every device supports works with every driver. • Much work went to ASYN, less work to do for drivers. Page 4 Dirk Zimoch, 2007

  5. Provided functionalities • Dispatcher • Thread for asynchronous I/O • Interrupt subscription and handling • Connection management • Message concurrency • Configuration (shell) functions • Debug tools • Trace messages, trace files, trace levels • General purpose (debug) hardware access • Set of simple device supports Page 5 Dirk Zimoch, 2007

  6. Interface definitions • Old (bad): Device support talks to drivers. • Different drivers for different hardware have different interfaces. • Need special device support for each type of hardware. • No support for other clients than device support. • New (good): Clients talk to abstract interfaces. • Not limited to device supports. • Shell (debug) functions • Any C (and SNL) code • Different device supports can talk to the same hardware. • Need only one device support for any type of hardware. Page 6 Dirk Zimoch, 2007

  7. The cost • Device supports need to be modified • Talk to asyn interfaces instead of driver • Driver needs to be modified • Remove all “private” dispatcher code • Use asyn library • Implement interfaces for asyn • Example: Simple digital voltmeter – Keithley 196 • ~130 lines removed • 2 lines added • 22 lines changed Page 7 Dirk Zimoch, 2007

  8. Benefits • New devices need to be implemented only once. • All device supports can use all drivers. • O(n+m) problem instead of O(n*m) problem. • Different device supports can share same driver. • Porting to EPICS 3.14. need to be done only once. • “Standard” drivers already done. • Local serial bus • TCP and UDP sockets • several GPIB drivers, including LAN/GPIB interfaces Page 8 Dirk Zimoch, 2007

  9. Current status • Several device supports converted. • Many drivers converted. Page 9 Dirk Zimoch, 2007

  10. Driver architecture Device support (or SNL code, another driver, or non-EPICS software) Interfaces (named; pure virtual functions) asynCommon (connect, report, …) asynOctet (write, read, setInputEos,…) Port (named object) Port driver addr=1 addr=0 device device Page 10 Dirk Zimoch, 2007

  11. Vocabulary: Port • Communication path (“bus”) with unique name. • One or many devices can be connected. • May have addresses to identify individual devices. • May be blocking or non-blocking. • Is configured in startup script. drvAsynSerialPortConfigure "COM2", "/dev/sttyS1" drvAsynIPPortConfigure "fooServer", "192.168.0.10:40000" vxi11Configure "LanGpib1", "192.168.0.1", 1, 1000, "hpib" myDeviceDriverConfigure "portname", parameters Page 11 Dirk Zimoch, 2007

  12. Vocabulary: Interface • API for a class of ports. • common, message based, register based, … • Defines table of driver functions (“methods”) • Does not implement driver methods. • Every port has one or many interfaces. • Clients talk to interfaces, not to drivers. pasynCommon->connect() pasynOctet->write() Page 12 Dirk Zimoch, 2007

  13. Vocabulary: Driver • Software to handle one type of ports. • Implements one or many interfaces. • Provides method tables for interfaces. • Has internal knowledge about specific port hardware. • Does not handle any specific device type! • Examples: • serial bus, VXI-11, Green Springs IP488, … • Configure function in startup script connects driver to port. Page 13 Dirk Zimoch, 2007

  14. Vocabulary: asynUser • Identifies the client. • Each client needs one asynUser. • From asynDriver’s point of view, asynUser is the client. • “Handle” to ports and everything else inside asynDriver. Page 14 Dirk Zimoch, 2007

  15. Vocabulary: asynManager • Core of asynDriver. • Creates threads for blocking ports. • Registers and finds ports and interfaces. • Schedules access to ports. • There is exactly one global instance: pasynManager • Clients ask asynManager for services pasynManager->connectDevice(pasynUser , "portname", address) pasynManager->findInterface(pasynUser, interfaceType, ...) pasynManager->queueRequest(pasynUser, priority, timeout) • Drivers inform asynManager about any important things. Page 15 Dirk Zimoch, 2007

  16. physical communication Abstraction Layers logical communication • Client knows nothing about port and driver. Software Hardware client / asynUser(e.g. device support) device device addr 1 addr 2 interface bus driver bus controller (port) Page 16 Dirk Zimoch, 2007

  17. Basic asynDriver interfaces • asynOctet • Message based I/O: serial, GPIB, telnet-like TCP/IP, … • asynUInt32Digital • Bit field registers: status word, switches, … • asynInt32, asynInt32Array • Integer registers: ADC, DAC, encoder, … • Integer arrays: spectrum analyzer, oscilloscope, … • asynFloat64, asynFloat64Array • Floating point registers and arrays Page 17 Dirk Zimoch, 2007

  18. More interfaces • asynCommon • Mandatory for every driver • Methods: report, connect, disconnect • asyn*SyncIO • Interfaces for clients which are willing to block • Shell commands. • SNL and C programs with separate threads. • asynGpib • Additional features which are not included in asynOctet:SRQ polling, IFC, REN, addressed and universal commands, … Page 18 Dirk Zimoch, 2007

  19. Notes about register based interfaces • Hardware registers may be smaller/larger than Int32 / Float64 • Driver is responsible for conversion. • Higher bits may be ignored / padded. • Larger registers may be split or implemented as arrays. • What does port and address mean here? • Device and register number. • What is an array register? • Something that holds a waveform. • May be implemented e.g. as many registers or as a fifo. • Driver is responsible for conversion to/from array of Int32 / Float64. Page 19 Dirk Zimoch, 2007

  20. Control flow for blocking port • Client requests service and provides callback. • Port thread calls callback when client is scheduled. • Clients can call (even blocking) driver functions. • No other client of same port can interfere during callback. Page 20 Dirk Zimoch, 2007

  21. Control flow for non-blocking port • Client requests service and provides callback. • Callback is called immediately. • Clients can call (non-blocking) driver functions. • No other client of same port can interfere during callback. Page 21 Dirk Zimoch, 2007

  22. Blocking and non-blocking ports • Ports with a field bus attached are usually blocking. • Access to hardware may have arbitrary long delays. • Client must be willing to block or must use callbacks. • Scan tasks are not allowed to block. • SNL, shell functions, or other code may block. • Driver must have separate port thread to do actual I/O. • Device support is asynchronous. • Ports which access local registers are usually non-blocking. • Access to hardware has only very short delays. • Device support is synchronous. Page 22 Dirk Zimoch, 2007

  23. Break Coming soon: asynDriver clients (device support, etc.) Dirk Zimoch, 2007

  24. Device example • RS232 and/or TCP/IP device. • Interface is asynOctet • Local serial connection or telnet-style TCP/IP • Good news: Drivers already exist. • Clients • Command line functions. • General purpose debug record: asynRecord • Simple device supports for stringin, waveform, … • Complicated device support with string parsing: StreamDevice • Good news: All this already exists. Page 24 Dirk Zimoch, 2007

  25. asynOctet command line functions • Create / destroy handleasynOctetConnet(handle, port, address=0, timeout=1.0, buffersize=80)asynOctetDisconnect(handle) • Talk to deviceasynOctetWrite(handle, string)asynOctetRead(handle)asynOctetWriteRead(handle, string)asynOctetFlush(handle) • Set / get terminatorsasynOctetSetInputEos(port, address, eos)asynOctetGetInputEos(port, address)asynOctetSetOutputEos(port, address, eos)asynOctetGetOutputEos(port, address) Page 25 Dirk Zimoch, 2007

  26. Example: asynOctet command line functions drvAsynSerialPortConfigure "COM1", "/dev/ttyS0" asynSetOption "COM1", -1, "baud", "9600" asynSetOption "COM1", -1, "bits", "8" asynSetOption "COM1", -1, "parity", "none" asynSetOption "COM1", -1, "stop", "1" asynOctetSetInputEos "COM1", 0, "\r\n" asynOctetSetOutputEos "COM1", 0, "\r" asynOctetConnet "Dirk","COM1" asynOctetWriteRead "Dirk","value?" asynOctetDisconnect "Dirk" Page 26 Dirk Zimoch, 2007

  27. More command line functions • Report asynReport(level, port) • Driver and port options asynSetOption(port, addr, key, value) asynShowOption(port, addr, key) asynAutoConnect(port, addr, yesNo) asynEnable(port, addr, yesNo) • Tracing (debugging) asynSetTraceFile(port, addr, filename) asynSetTraceMask(port, addr, eventmask) asynSetTraceIOMask(port, addr, formatmask) Page 27 Dirk Zimoch, 2007

  28. asynRecord • Special record type that can use all asyn interfaces. • Can connect to different ports at run-time. • Can change any setting of all interfaces types. • Is a good debug tool. • Access to options including tracing. • Comes with set of medm screens for different interfaces. • Can only handle simple devices: • e.g. asynOctet: write one string, read one string • Is all you need (more than you want?) for simple devices. Page 28 Dirk Zimoch, 2007

  29. asynRecord medm screens Page 29 Dirk Zimoch, 2007

  30. Standard record asyn device supports • asynOctet support for stringin, and stringout, waveform • Can do simple write/read of strings • Register support for ao, ai, bo, bi, mbboDirect, mbbiDirect, mbbo, mbbi, longout, longin, waveform • Can do simple register write, register read. • Interrupt can be used for “I/O Intr” scanning. • Can handle only simple devices • But for simple devices, that's all you need. Page 30 Dirk Zimoch, 2007

  31. Example: Records • Asyn recordrecord (asyn, "$(P):asyn") { field (PORT, "TS")} • String recordsrecord (stringout, "$(P):command") { field (FLNK, "$(P):reply")}record (stringin, "$(P):reply") { field (DTYP, "asynOctetWriteRead") field (INP, "@asyn(TS,-1,1000) $(P):command")} Page 31 Dirk Zimoch, 2007

  32. StreamDevice • Device support for standard records and asynOctet ports. • Suitable for medium complicated protocols and string parsing. • Communication protocol is specified in plain text file • Big difference to devGpib: No need to recompile anything to support new device. • String formatting and parsing similar to printf/scanf, but with much more converters, e.g. bitfield, BCD, enum, raw, … • Checksum support. • StreamDevice is not part of the asynDriver package.See: epics.web.psi.ch/software/streamdevice/ Page 32 Dirk Zimoch, 2007

  33. Example: StreamDevice protocol file Terminator = CR LF; setValue { out "VALUE %.3f"; } getValue { out "VALUE?"; in "VALUE=%f"; } getStatus { out "STAT?"; in "STAT=%B.!"; } # bits: .=0 !=1 setSwitch { out "SWITCH %{OFF|ON}"; # enumeration @init {out "SWITCH?"; in "SWITCH=%{OFF|ON}"; } # init record} getDataWithEcho {out "DATA?"; in "DATA?"; in "%d"; } writeCalcoutFieldsWithChecksum { out "A=%(A)g B=%(B)g C=%(C)g D=%(D)g %0<CRC32>";} read2Values { out "get"; in "%f %(OtherRecord.VAL)f"; } read2ValuesWithParameter {out "get"; in "%f %(\$1.VAL)f"; } Page 33 Dirk Zimoch, 2007

  34. Exercise (before break) • TCP device on port 40000 • First connect with telnet: telnet localhost 40000 • Serial device on local port (/dev/ttyS0 or /dev/ttyUSB0) • First connect with minicom: xterm –e minicom & • Find out what the device does • Try command HELP. • Try asynRecord and asyn device support. • Softioc is in directory ioc • medm for asynRecord displays is installed • Try StreamDevice support. Page 34 Dirk Zimoch, 2007

  35. Break Coming soon: writing your own device support Dirk Zimoch, 2007

  36. Writing your own device support • If your device is too complicated, you have to – and you can write your own device support. • It works smoothly together with other supports, even when talking to the same device! • You can write your own support for the complicated stuff only and leave the simple functions to existing supports. • Also SNL or C-code can directly access the device without disturbing any records using the same port or even the same device. Page 36 Dirk Zimoch, 2007

  37. Step 1: Connect to the port • Before doing anything you must become an asynUser pasynUser=pasynManager->createAsynUser(processCallback, timeoutCallback); • Provide 1 or 2 callbacks, first is called when you are scheduled to access the port, second is called on timeout. • Connect to the device (port, address) status=pasynManager->connectDevice(pasynUser, port, addr); • Get the interface you need (e.g. asynOctet) pasynInterface=pasynManager->findInterface(pasynUser, asynOctetType, 1); pasynOctet=(asynOctet *)pasynInterface->pinterface; pvtOctet=pasynInterface->drvPvt; Page 37 Dirk Zimoch, 2007

  38. Step 2: Request access to the port • Ask asynManager to put yur request to the queue status=pasynManager->queueRequest(pasynUser, priority, timeout); • Priorities: asynQueuePriority{Low|Medium|High} • queueRequest never blocks. • Blocking port: AsynManager will call your processCallback when port is free. The callback runs in port thread. • Non blocking port: queueRequest calls processCallback. • If port is not free for timeout seconds, asynManager calls timeoutCallback. This callback runs in timer thread. • In processCallback, you have exclusive access to the port. Page 38 Dirk Zimoch, 2007

  39. Step 3: processCallback (asynOctet) • Flush (discard old input) status=pasynOctet->flush(pvtOctet, pasynUser); • Write (with/without output eos appended) status=pasynOctet->write[Raw](pvtOctet, pasynUser, data, size, &bytesWritten); • Actual number of written bytes is returned in bytesWritten. • Read (with/without input eos handling) status=pasynOctet->read[Raw](pvtOctet, pasynUser, buffer, maxsize, &bytesReceived, &eomReason); • Actual number of written bytes is returned in bytesReceived. • End of message reason is returned in eomReason. Page 39 Dirk Zimoch, 2007

  40. Step 3: processCallback (asynInt32) • Get bounds status=pasynInt32->getBounds(pvtInt32, pasynUser, &low, &high); • Limits for valid register values are returned in low and high. • Write status=pasynInt32->write(pvtInt32, pasynUser, value); • Read status=pasynInt32->read(pvtInt32, pasynUser, &value); • Current register value is returned in value. Page 40 Dirk Zimoch, 2007

  41. Step 3: processCallback (asynUInt32Digital) • Write status=pasynUInt32Digital->write(pvtUInt32Digital, pasynUser, value, mask); • Only bits specified by mask are modified. • Read status=pasynUInt32Digital->read(pvtUInt32Digital, pasynUser, &value, mask); • Current register value & mask is returned in value. Page 41 Dirk Zimoch, 2007

  42. Rules for using driver methods • Never use I/O methods outside processCallback. • Only talk to the port that has called you back. • You can do as many I/O as you like. • You always must use the interface method table pasyn{Octet|Int32|…} to access the driver. • You always need pvt… and pasynUser as arguments. • All other clients of the same port (even with other addresses) have to wait until you are finished. This is not nice of you if your device blocks for a long time! Page 42 Dirk Zimoch, 2007

  43. Allow access to other devices on same port • Between your I/O calls, other clients can talk to other devices of the same port, if you let them. • Lock your device. status=pasynManager->blockProcessCallback(pasynUser, 0); • Call only one I/O method at a time in processCallback. • Commit new queueRequest() and finish callback. • When done, release your device. status=pasynManager->unblockProcessCallback(pasynUser, 0); • This only applies to blocking devices with multiple addresses. Page 43 Dirk Zimoch, 2007

  44. Informational asynManager methods • Write report to file pasynManager->report(file, detailLevel, port); • Can be called without asynUser in any context. • Get information about port. status=pasynManager->isMultiDevice(pasynUser, port, &yesNo); • Can be called before connected to port. • Get information about connected port. status=pasynManager->canBlock(pasynUser, &yesNo); status=pasynManager->isEnabled(pasynUser, &yesNo); status=pasynManager->isConnected(pasynUser, &yesNo); status=pasynManager->isAutoConnect(pasynUser, &yesNo); Page 44 Dirk Zimoch, 2007

  45. More asynManager methods • Cleanup status=pasynManager->disconnect(pasynUser); • Disconnects asynUser from port. • Fails when asynUser is queued or callback is active. status=pasynManager->freeAsynUser(pasynUser); • freeAsynUser automatically calls disconnect. • Cancel queued request status=pasynManager->cancelRequest(pasynUser); • Blocks when callback is active. Page 45 Dirk Zimoch, 2007

  46. Interrupts • Register for asynInt32 interrupts void interruptCallbackInt32(userPvt, pasynUser, value); status=pasynInt32->registerInterruptUser(pvtInt32, pasynUser, interruptCallbackInt32, userPvt, &intrruptPvtInt32); status=pasynInt32->cancelInterruptUser(pvtInt32, pasynUser, intrruptPvtInt32); • Similar for other interfaces void interruptCallbackOctet(userPvt, pasynUser, data, size, eomReason); • Callbacks do not run in interrupt context! • Interface has changed in asynDriver version 5.0. Page 46 Dirk Zimoch, 2007

  47. Remarks on device supports • Always check return value of methods typedef enum {asynSuccess, asynTimeout, asynOverflow, asynError} asynStatus; • If port can block you must implement asynchronous support. • Set precord->pact=1 before queueRequest. • Return after queueRequest and wait for callback. • In your callback call callbackRequestProcessCallback. • Update record in second processing run. • If port cannot block you can implement synchronous support. • Update record after queueRequest and return. Page 47 Dirk Zimoch, 2007

  48. Writing blocking clients • Clients which run in a private thread may use synchonous (i.e. blocking) interfaces. • Examples: Shell functions, SNL code, custom C code. • No need to use callbacks. • No need to know about asynManager. • Never use this from scan threads, i.e. in device supports! • There is one global interface instance for each synchronous interface type. Page 48 Dirk Zimoch, 2007

  49. asynOctetSyncIO • Create asynUser and connect to port status=pasynOctetSyncIO->connect(port, addr, &pasynUser, driverInfo); • Blocking I/O methods status=pasynOctetSyncIO->write[Raw](pasynUser, data, size, timeout, &bytesTransfered); status=pasynOctetSyncIO->read[Raw](pasynUser, buffer, maxsize, timeout, &bytesReceived, &eomReason); status=pasynOctetSyncIO->flush(pasynUser); • Disconnect from port and free asynUser status=pasynOctetSyncIO->disconnect(pasynUser); Page 49 Dirk Zimoch, 2007

  50. asynOctetSyncIO convenience methods • Connect, write, disconnect status=pasynOctetSyncIO->write[Raw]Once(port, addr, data, size, timeout, &bytesTransfered, driverInfo); • Connect, read, disconnect status=pasynOctetSyncIO->read[Raw]Once(port, addr, buffer, maxsize, timeout, &bytesReceived, &eomReason, driverInfo); • Connect, write, read, disconnect status=pasynOctetSyncIO->writeReadOnce(port, addr, data, size, buffer, maxsize, timeout, &bytesTransfered, &bytesReceived, &eomReason, driverInfo); Page 50 Dirk Zimoch, 2007

More Related